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We present an algorithm for finding optimal paths for multiple stochastic agents in a graph to reach their destinations with a user-specified maximum pairwise collision probability. Our algorithm, called STT-CBS, uses Conflict-Based Search (CBS) with a stochastic travel time (STT) model for the agents. |
This paper introduces GAgent: an Gripping Agent designed for open-world environments that provides advanced cognitive abilities via VLM agents and flexible grasping abilities with variable stiffness soft grippers. GAgent comprises three primary components - Prompt Engineer module, Visual-Language Model (VLM) core and ... |
We present a biologically inspired approach for path planning with dynamic obstacle avoidance. Path planning is performed in a condensed configuration space of a robot generated by self-organizing neural networks (SONN). |
We introduce a novel dataset for multi-robot activity recognition (MRAR) using two robotic arms integrating WiFi channel state information (CSI), video, and audio data. This multimodal dataset utilizes signals of opportunity, leveraging existing WiFi infrastructure to provide detailed indoor environmental sensing with... |
One of the motivations for exploring flapping-wing aerial robotic systems is to seek energy reduction, by maintaining manoeuvrability, compared to conventional unmanned aerial systems. A Flapping Wing Flying Robot (FWFR) can glide in favourable wind conditions, decreasing energy consumption significantly. |
In the realm of exoskeleton control, achieving precise control poses challenges due to the mechanical delay of exoskeletons. To address this, incorporating future gait trajectories as feed-forward input has been proposed. |
We identify the components of bio-inspired artificial camouflage systems including actuation, sensing, and distributed computation. After summarizing recent results in understanding the physiology and system-level performance of a variety of biological systems, we describe computational algorithms that can generate si... |
We present a Sequential Mobile Manipulation Planning (SMMP) framework that can solve long-horizon multi-step mobile manipulation tasks with coordinated whole-body motion, even when interacting with articulated objects. By abstracting environmental structures as kinematic models and integrating them with the robot'... |
We report an improvements to NeurIPS 2023 HomeRobot: Open Vocabulary Mobile Manipulation (OVMM) Challenge reinforcement learning baseline. More specifically, we propose more accurate semantic segmentation module, along with better place skill policy, and high-level heuristic that outperforms the baseline by 2.4% of ov... |
We present an interactive, computational design system for creating custom robotic arms given high-level task descriptions and environmental constraints. Various task requirements can be encoded as desired motion trajectories for the robot arm's end-effector. |
This letter aims to provide a fundamental analytical comparison for the two major types of relaying methods: intelligent reflecting surfaces and full-duplex relays, particularly focusing on unmanned aerial vehicle communication scenarios. Both amplify-and-forward and decode-and-forward relaying schemes are included in... |
Hybrid analog and digital beamforming (HBF) has been recognized as an attractive technique offering a tradeoff between hardware implementation limitation and system performance for future broadband millimeter wave (mmWave) communications. In contrast to most current works focusing on the HBF design for orthogonal freq... |
In this work, we present a novel robust distributed beamforming (RDB) approach to mitigate the effects of channel errors on wireless networks equipped with relays based on the exploitation of the cross-correlation between the received data from the relays at the destination and the system output. The proposed RDB meth... |
This paper proposes a novel particle filter for tracking time-varying states of multiple targets jointly from superpositional data, which depend on the sum of contributions of all targets. Many conventional tracking methods rely on preprocessing for detection (e.g., thresholding), which severely limits tracking perfor... |
5G is envisioned to support three broad categories of services: eMBB, URLLC, and mMTC. URLLC services refer to future applications which require reliable data communications from one end to another, while fulfilling ultra-low latency constraints. |
This letter proposes a low-complexity signal detection method for the splitting receiver scheme, which achieves an excellent symbol error rate (SER) performance. Based on the three-dimensional (3D) received signal of the splitting receiver, we derive an equivalent two-dimensional (2D) signal model and develop a low-co... |
Massive multiple-input multiple-output (MIMO) is a key technology for emerging next-generation wireless systems. Utilizing large antenna arrays at base-stations, massive MIMO enables substantial spatial multiplexing gains by simultaneously serving a large number of users. |
Graph convolutional neural networks (GCNNs) are popular deep learning architectures that, upon replacing regular convolutions with graph filters (GFs), generalize CNNs to irregular domains. However, classical GFs are prone to numerical errors since they consist of high-order polynomials. |
Multipath-based simultaneous localization and mapping (SLAM) is a promising approach to obtain position information of transmitters and receivers as well as information regarding the propagation environments in future mobile communication systems. Usually, specular reflections of the radio signals occurring at flat su... |
In this paper, we propose to leverage rotatable antennas (RAs) for improving the communication performance in mixed near-field and far-field communication systems by exploiting a new spatial degree-of-freedom (DoF) offered by antenna rotation to mitigate complex near-field interference and mixed-field interference. Sp... |
This paper introduces two machine learning optimization algorithms to significantly enhance position estimation in Reconfigurable Intelligent Surface (RIS) aided localization for mobile user equipment in Non-Line-of-Sight conditions. Leveraging the strengths of these algorithms, we present two methods capable of achie... |
Protection strategies for transmission and distribution systems have been extensively investigated to facilitate better coordination of physical protection devices. A diverse range of functional motors with dedicated protection schemes are being used more and more in commercial, residential, and industrial buildings. |
The Burrows-Wheeler transform (BWT) is used by the bzip2 family of compressors. In this paper, we present a hardware architecture that implements an inplace algorithm to compute the BWT. |
Spectral unmixing is a widely used technique in hyperspectral image processing and analysis. It aims to separate mixed pixels into the component materials and their corresponding abundances. |
The design of low-profile linear microstrip arrays with wide-band spatial filtering capabilities is dealt with. An innovative architecture, leveraging the angular selectivity of offset stacked patch (OSP) radiators, is proposed to implement phased arrays (PAs) with inter-element spacing larger than half-wavelength tha... |
This paper investigates the asymptotic BER performance of coherent optical wireless communication systems in Gamma-Gamma turbulence when applying the V-BLAST MIMO scheme. A new method is proposed to quantify the performance of the system and mathematical solutions for asymptotic BER performance are derived. |
As a fundamental problem in ubiquitous computing and machine learning, sensor-based human activity recognition (HAR) has drawn extensive attention and made great progress in recent years. HAR aims to recognize human activities based on the availability of rich time-series data collected from multi-modal sensors such a... |
Integrated sensing and communication (ISAC) technology has been explored as a potential advancement for future wireless networks, striving to effectively use spectral resources for both communication and sensing. The integration of reconfigurable intelligent surfaces (RIS) with ISAC further enhances this capability by... |
Distributed MIMO and integrated sensing and communication are expected to be key technologies in future wireless systems, enabling reliable, low-latency communication and accurate localization. Dedicated localization solutions must support distributed architecture, provide scalability across different system configura... |
We experimentally investigate transmitting high-order quadrature amplitude modulation (QAM) signals with carrierless and intensity-only measurements with phase retrieval (PR) receiving techniques. The intensity errors during measurement, including noise and distortions, are found to be a limiting factor for the precis... |
The calibration of weather radar for detecting meteorological phenomena has advanced rapidly, aiming to enhance accuracy. Utilizing an unmanned aerial vehicle (UAV) equipped with a suspended metal sphere introduces an efficient calibration method by allowing dynamic adjustment of the UAV's position, effectively ac... |
Dynamic Metasurface Antennas (DMAs) have emerged as promising candidates for basestation deployment in the next generation of wireless communications. While overlooking the practical and hardware limitations of DMA, previous studies have highlighted DMAs' potential to deliver high data rates while maintaining low ... |
Graph signal processing (GSP) is a framework to analyze and process graph-structured data. Many research works focus on developing tools such as Graph Fourier transforms (GFT), filters, and neural network models to handle graph signals. |
The rapid development of wireless sensor networks (WSNs) is the significant incentive to contribute in the vulnerable applications such as cognitive radio (CR). This paper proposes a Stackelberg game approach to enhance the WSN-based CR security against the spectrum sensing data falsification (SSDF) attack and conserv... |
In multi-user multi-antenna communications, it is well-known in theory that Rate-Splitting Multiple Access (RSMA) can achieve a higher spectral efficiency than both Space Division Multiple Access (SDMA) and Non-Orthogonal Multiple Access (NOMA). However, an experimental evaluation of RSMA's performance, relative t... |
Cell-free massive multiple-input multiple-output (CF mMIMO) systems are expected to provide faster and more robust connections to user equipments (UEs) by cooperation of a massive number of distributed access points, and to be one of the key technologies for beyond 5G (B5G). In B5G, energy efficiency (EE) is one of th... |
Orthogonal frequency division multiplexing (OFDM) has been widely adopted in dual-function radar-communication (DFRC) systems, where radar and communications are performed simultaneously with a common signal. However, with random communication symbols (CS) in DFRC, the transmit signal has a random ambiguity function t... |
We derived a fully-closed-form GN-model formula and tested its accuracy of over 7,000 highly randomized Cband system scenarios. By further applying a correction that leverages the large system test-set, we were able to substantially improve it and obtain EGN-model accuracy with real-time-compatible computation effort. |
Intelligent reflecting surface (IRS) has garnered growing interest and attention due to its potential for facilitating and supporting wireless communications and sensing. This paper studies a semi-passive IRS-enabled sensing system, where an IRS consists of both passive reflecting elements and active sensors. |
Power system dynamic state estimation (DSE) remains an active research area. This is driven by the absence of accurate models, the increasing availability of fast-sampled, time-synchronized measurements, and the advances in the capability, scalability, and affordability of computing and communications. |
The reconfigurable intelligent surface is a promising technology for the manipulation and control of wireless electromagnetic signals. In particular, it has the potential to provide significant performance improvements for wireless networks. |
The electrocardiogram (ECG) records electrical signals in a non-invasive way to observe the condition of the heart, typically looking at the heart from 12 different directions. Several types of the cardiac disease are diagnosed by using 12-lead ECGs Recently, various wearable devices have enabled immediate access to t... |
Data-driven deep learning (DL) techniques developed for automatic modulation classification (AMC) of wireless signals are vulnerable to adversarial attacks. This poses a severe security threat to the DL-based wireless systems, specifically for edge applications of AMC. |
6G communication systems promise to deliver sensing capabilities by utilizing the orthogonal frequency division multiplexing (OFDM) communication signal for sensing. However, the cyclic prefix inherent in OFDM systems limits the sensing range, necessitating compensation techniques to detect small, distant targets like... |
Tailor-made for massive connectivity and sporadic access, grant-free random access has become a promising candidate access protocol for massive machine-type communications (mMTC). Compared with conventional grant-based protocols, grant-free random access skips the exchange of scheduling information to reduce the signa... |
Recent advances in machine learning and neuro-inspired systems enabled the increased interest in efficient pattern recognition at the edge. A wide variety of applications, such as near-sensor classification, require fast and low-power approaches for pattern matching through the use of associative memories and their mo... |
We use the theory of Bernstein functions, completely monotonic functions, and Levy processes to define a positive random process $\tau(t)$. For radar clutter one may think of $\tau(t)$ as the instantaneous power of the scattered radar signal that is described by a compound-Gaussian model. |
Instance selection is a vital technique for energy big data analytics. It is challenging to process a massive amount of streaming data generated at high speed rates by intelligent monitoring devices. |
This letter introduces a novel unmanned aerial vehicle (UAV)-intelligent reflecting surface (IRS) structure into near-field localization systems to enhance the design flexibility of IRS, thereby obtaining additional performance gains. Specifically, a UAV-IRS is utilized to improve the harsh wireless environment and pr... |
In the field of artificial intelligence, self-supervised learning has demonstrated superior generalization capabilities by leveraging large-scale unlabeled datasets for pretraining, which is especially critical for wireless communication models to adapt to a variety of scenarios. This paper innovatively treats Channel... |
The 3rd Generation Partnership Project (3GPP) defines the first specifications for cellular-based vehicle-to-everything (C-V2X) communications in Release 14. C-V2X extends LTE's device-to-device communication modes by adding two new modes of operation for vehicular systems in coverage and out of coverage of an LTE... |
The automatic classification of radar waveform is a fundamental technique in electronic countermeasures (ECM). Recent supervised deep learning-based methods have achieved great success in a such classification <a href="http://task.However" rel="external noopener nofollow" class="link-external link-http">this http URL</... |
As the worlds predominant navigation system GPS is critical to modern life, finding applications in diverse areas like information security, healthcare, marketing, and power and water grid management. Unfortunately this diversification has only served to underscore the insecurity of GPS and the critical need to harden... |
This paper presents an Orthogonal Time Frequency Space (OTFS) waveform application along with a high altitude platform station (HAPS) relaying for remedying severe Doppler effects in non-terrestrial networks (NTNs). Taking practical challenges into consideration, HAPS is exploited as a decode and forward relay node to... |
Eigen-decomposition-based direction finding methods of using large-scale/ultra-large-scale fully-digital receive antenna arrays lead to a high or ultra-high complexity. To address the complexity dilemma, in this paper, three low-complexity estimators are proposed: partitioned subarray auto-correlation combining (PSAC)... |
This paper studies the receive antenna selection in massive multiple-input multiple-output (MIMO) system. The receiver, equipped with a large-scale antenna array whose size is much larger than that of the transmitter, selects a subset of antennas to receive messages. |
This paper presents a linear complexity iterative rake detector for the recently proposed orthogonal time frequency space (OTFS) modulation scheme. The basic idea is to extract and combine the received multipath components of the transmitted symbols in the delay-Doppler grid using linear diversity combining schemes li... |
The Internet of Things (IoT) is going to have its presence in all the essential sectors of human lives. It has the ability to provide both mainstream as well as the value added services in almost all the sectors. |
An indoor robot navigation system is investigated, where an intelligent reflecting surface (IRS) is employed to enhance the connectivity between the access point (AP) and a mobile robotic user. The considered system is optimized for minimization of the travelling time/distance of the mobile robotic user from a given s... |
The recent advances in the field of deep learning have not been fully utilised for decoding imagined speech primarily because of the unavailability of sufficient training samples to train a deep network. In this paper, we present a novel architecture that employs deep neural network (DNN) for classifying the words ... |
To achieve a reliable communication with short data blocks, we propose a novel decoding strategy for Kronecker-structured constant modulus signals that provides low bit error ratios (BERs) especially in the low energy per bit to noise power spectral density ratio $(E_b/N_0)$. The encoder exploits the fact that any M-P... |
Orthogonal signaling or Nyquist signaling limits the number of information symbols transmitted in bandwidth $B$ and time $T$ to be $BT$, the time-bandwidth product. Transmitting more than $BT$ symbols leads to loss of orthogonality. |
The digital Subscriber Line (DSL) remains an important component of heterogeneous networking, especially in historic city-centers, where using optical fibre is less realistic. Recently, the power consumption has become an important performance metric in telecommunication due to the associated environmental issues. |
Finite Rate of Innovation (FRI) theory considers sampling and reconstruction of classes of non-bandlimited continuous signals that have a small number of free parameters, such as a stream of Diracs. The task of reconstructing FRI signals from discrete samples is often transformed into a spectral estimation problem and... |
EEG-based analysis of pain perception, enhanced by machine learning, reveals how the brain encodes pain by identifying neural patterns evoked by noxious stimulation. However, a major challenge that remains is the generalization of machine learning models across individuals, given the high cross-participant variability... |
This paper investigates the general problem of resource allocation for mitigating channel fading effects in Free Space Optical (FSO) communications. The resource allocation problem is modeled as the constrained stochastic optimization framework, which covers a variety of FSO scenarios involving power adaptation, relay... |
The theory of sampling and recovery of bandlimited graph signals has been extensively studied. However, in many cases, the observation of a signal is quite coarse. |
We consider the change detection problem where the pre-change observation vectors are purely noise and the post-change observation vectors are noise-corrupted compressive measurements of sparse signals with a common support, measured using a sensing matrix. In general, post-change distribution of the observations depe... |
Reconfigurable intelligent surface (RIS) has been widely discussed as new technology to improve wireless communication performance. Based on the unique design of RIS, its elements can reflect, refract, absorb, or focus the incoming waves toward any desired direction. |
Routing in multi-hop wireless networks is a complex problem, especially in heterogeneous networks where multiple wireless communication technologies coexist. Reinforcement learning (RL) methods, such as Q-learning, have been introduced for decentralized routing by allowing nodes to make decisions based on local observ... |
Pipelined analog-to-digital converters (ADCs) are key enablers in many state-of-the-art signal processing systems with high sampling rates. In addition to high sampling rates, such systems often demand a high linearity. |
The terahertz band is considered the last frontier for wireless communications and expected to play a significant role in beyond 5G networks. Besides supporting extremely high data rates for existing devices, the terahertz band is also expected to connect future nanoscale devices using graphene-based nano-antenna, whi... |
Intelligent reflecting surfaces (IRSs) are being studied as possible low-cost energy-efficient alternatives to active relays, with the goal of solving the coverage issues of millimeter wave (mmWave) and terahertz (THz) network deployments. In the literature, these surfaces are often studied by idealizing their charact... |
This article studies the problem of decentralized Singular Value Decomposition (d-SVD), which is fundamental in various signal processing applications. Two scenarios are considered depending on the availability of the data matrix under consideration. |
Hybrid precoding plays a key role in realizing massive multiple-input multiple-output (MIMO) transmitters with controllable cost. MIMO precoders are required to frequently adapt based on the variations in the channel conditions. |
Quantizers play a critical role in digital signal processing systems. Recent works have shown that the performance of quantization systems acquiring multiple analog signals using scalar analog-to-digital converters (ADCs) can be significantly improved by properly processing the analog signals prior to quantization. |
Ball bearings find widespread use in various manufacturing and mechanical domains, and methods based on machine learning have been widely adopted in the field to monitor wear and spot defects before they lead to failures. Few studies, however, have addressed the problem of censored data, in which failure is not observ... |
EEG is the gold standard for seizure detection in the newborn infant, but EEG interpretation in the preterm group is particularly challenging; trained experts are scarce and the task of interpreting EEG in real-time is arduous. Preterm infants are reported to have a higher incidence of seizures compared to term infant... |
Early diagnosis of dementia, particularly in the prodromal stage (i.e., mild cognitive impairment, or MCI), has become a research and clinical priority but remains challenging. Automated analysis of the drawing process has been studied as a promising means for screening prodromal and clinical dementia, providing multi... |
A many-to-one mapping geometric constellation shaping scheme is proposed with a fixed modulation format, fixed FEC engine and rate adaptation with an arbitrarily small step. An autoencoder is used to optimize the labelings and constellation points' positions. |
Transfer learning is proposed to adapt an NN-based nonlinear equalizer across different launch powers and modulation formats using a 450km TWC-fiber transmission. The result shows up to 92% reduction in epochs or 90% in the training dataset. |
Video content is responsible for more than 70% of the global IP traffic. Consequently, it is important for content delivery infrastructures to rapidly detect and respond to changes in content popularity dynamics. |
FAR has improved anti-jamming performance over traditional pulse-Doppler radars under complex electromagnetic circumstances. To reconstruct the range-Doppler information in FAR, many compressed sensing (CS) methods including standard and block sparse recovery have been applied. |
Traditional physical (PHY) layer protocols contain chains of signal processing blocks that have been mathematically optimized to transmit information bits efficiently over noisy channels. Unfortunately, this same optimality encourages ubiquity in wireless communication technology and enhances the potential for catastr... |
This paper presents two new, simple yet effective approaches to measure the vibration of a swaying millimeter-wave radar (mmRadar) utilizing geometrical information. Specifically, for the planar vibrations, we firstly establish an equation based on the area difference between the swaying mmRadar and the reference obje... |
Conventional analog-to-digital converters (ADCs) clip when signals exceed their input range. Modulo (unlimited) sampling overcomes this limitation by folding the signal before digitization, but existing recovery methods are either computationally intensive or constrained by loose oversampling bounds that demand high s... |
We consider the problem of peak-to-average power ratio (PAPR) reduction in orthogonal frequency division multiplexing (OFDM) systems via optimized sparsification of tone reservation (TR). In particular, we propose a novel TR optimization method in which the minimum number of effectively used peak-reserved tones (PRTs)... |
The terahertz (THz) band has attracted significant interest for future wireless networks. In this paper, a THz integrated sensing communications and powering (THz-ISCAP) system, where sensing is leveraged to enhance communications and powering, is studied. |
In this paper, we aim to design highly energy efficient end-to-end communication for millimeter wave multiple-input multiple-output systems. This is done by jointly optimizing the digital-to-analog converter (DAC)/analog-to-digital converter (ADC) bit resolutions and hybrid beamforming matrices. |
This work proposes a provably convergent and low complexity optimization algorithm for the maximization of the secrecy energy efficiency in the uplink of a wireless network aided by a Reconfigurable Intelligent Surface (RIS), in the presence of an eavesdropper. The mobil users' transmit powers and the RIS reflecti... |
This paper explores a novel research direction where a digital twin is leveraged to assist the beamforming design for an integrated sensing and communication (ISAC) system. In this setup, a base station designs joint communication and sensing beamforming to serve the communication user and detect the sensing target co... |
Deep learning (DL) has significantly improved automatic modulation classification (AMC) by leveraging neural networks as the feature <a href="http://extractor.However" rel="external noopener nofollow" class="link-external link-http">this http URL</a>, as the DL-based AMC becomes increasingly widespread, it is faced wit... |
In this paper, we propose two reconfigurable intelligent surface-aided $M$-ary frequency-modulated differential chaos shift keying (RIS-$M$-FM-DCSK) schemes. In scheme I, the RIS is regarded as a transmitter at the source to incorporate the $M$-ary phase-shift-keying ($M$-PSK) symbols into the FM chaotic signal and to... |
We review three solutions for low-cost data center interconnects with a target reach of up to 80 km. Directly detected DMT, PAM-4 and multi-band CAP are promising modulation schemes, enabling 400 Gbit/s by combining eight channels of 56 Gbit/s. |
We present UniPhyNet, a novel neural network architecture to classify cognitive load using multimodal physiological data -- specifically EEG, ECG and EDA signals -- without the explicit need for extracting hand-crafted features. UniPhyNet integrates multiscale parallel convolutional blocks and ResNet-type blocks enhan... |
We propose a desigining method of a flexible sampling operator for graph signals via a difference-of-convex (DC) optimization algorithm. A fundamental challenge in graph signal processing is sampling, especially for graph signals that are not bandlimited. |
In the past as well as present wireless communication systems, the wireless propagation environment is regarded as an uncontrollable black box that impairs the received signal quality, and its negative impacts are compensated for by relying on the design of various sophisticated transmission/reception schemes. However... |
Based on the signals received across its antennas, a multi-antenna base station (BS) can apply the classic multiple signal classification (MUSIC) algorithm for estimating the angle of arrivals (AOAs) of its incident signals. This method can be leveraged to localize the users if their line-of-sight (LOS) paths to the B... |
Non-orthogonal multiple access (NOMA) in conjunction with finite blocklength (short packet) communications is regarded as an enabler for ultra-reliable and low-latency communications (URLLC). In this paper, we investigate the link-layer rate, i.e., the effective capacity, of a two-user NOMA in finite blocklength regim... |
Stop-and-go traffic poses many challenges to tranportation system, but its formation and mechanism are still under <a href="http://exploration.however" rel="external noopener nofollow" class="link-external link-http">this http URL</a>, it has been proved that by introducing Connected Automated Vehicles(CAVs) with caref... |
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