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In this paper, we propose a new multiple-input multiple-output (MIMO) communication system with movable antennas (MAs) to exploit the antenna position optimization for enhancing the capacity. Different from conventional MIMO systems with…
Beam prediction is an effective approach to reduce training overhead in massive multiple-input multiple-output (MIMO) systems. However, existing beam prediction models still exhibit limited generalization ability in diverse scenarios, which…
This paper is concerned with finding an optimal path for an observer, or sensor, moving at a constant speed, which is to estimate the position of a stationary target, using only bearing angle measurements. The generated path is optimal in…
The movable antenna (MA) technology has attracted great attention recently due to its promising capability in improving wireless channel conditions by flexibly adjusting antenna positions. To reap maximal performance gains of MA systems,…
In this paper we present a method for automatically planning optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition system. The…
Effective motion planning in high dimensional spaces is a long-standing open problem in robotics. One class of traditional motion planning algorithms corresponds to potential-based motion planning. An advantage of potential based motion…
In this work, we propose a novel machine learning approach to compute the optimal transport map between two continuous distributions from their unpaired samples, based on the DeepParticle methods. The proposed method leads to a min-min…
Efficient beam alignment is a crucial component in millimeter wave systems with analog beamforming, especially in fast-changing vehicular settings. This paper proposes a position-aided approach where the vehicle's position (e.g., available…
Accurate and ubiquitous localization is crucial for a variety of applications such as logistics, navigation, intelligent transport, monitoring, control, and also for the benefit of communications. Exploiting millimeter-wave (mmWave) signals…
In this paper a search algorithm is proposed to find a sub optimal path for a non-holonomic system. For this purpose the algorithm starts sampling the front part of the vehicle and moves towards the destination with a cost function. The…
Real-world measurements often comprise a dominant signal contaminated by a noisy background. Robustly estimating the dominant signal in practice has been a fundamental statistical problem. Classically, mixture models have been used to…
In this paper, we present a multipath-based simultaneous localization and mapping (SLAM) algorithm that continuously adapts mulitiple map feature (MF) models describing specularly reflected multipath components (MPCs) from flat surfaces and…
Channel estimation is of crucial importance for tomorrow's wireless mobile communication systems. This paper focuses on the solution of channel parameters estimation problem in a scenario involving multiple paths in the presence of additive…
Opportunistic scheduling and beamforming schemes are proposed for multiuser MIMO-SDMA downlink systems with linear combining in this work. Signals received from all antennas of each mobile terminal (MT) are linearly combined to improve the…
In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…
Contextual multi-armed bandit (MAB) algorithms have been shown promising for maximizing cumulative rewards in sequential decision tasks such as news article recommendation systems, web page ad placement algorithms, and mobile health.…
While both navigation and manipulation are challenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and…
Leveraging sensory information to aid the millimeter-wave (mmWave) and sub-terahertz (sub-THz) beam selection process is attracting increasing interest. This sensory data, captured for example by cameras at the basestations, has the…
The rapid development of autonomous driving, abnormal behavior detection, and behavior recognition makes an increasing demand for multi-person pose estimation-based applications, especially on mobile platforms. However, to achieve high…
In this paper, we propose a new method for path planning to a point for robot in environment with obstacles. The resulting algorithm is implemented as a simple variation of Dijkstra's algorithm. By adding a constraint to the shortest-path,…